In this contribution, we suggest two proposals to achieve fast, real-time lane-keeping control for Autonomous Ground Vehicles (AGVs). The goal of lane-keeping is to orient and keep the vehicle within ...a given reference path using the front wheel steering angle as the control action for a specific longitudinal velocity. While nonlinear models can describe the lateral dynamics of the vehicle in an accurate manner, they might lead to difficulties when computing some control laws such as Model Predictive Control (MPC) in real time. Therefore, our first proposal is to use a Linear Parameter Varying (LPV) model to describe the AGV's lateral dynamics, as a trade-off between computational complexity and model accuracy. Additionally, AGV sensors typically work at different measurement acquisition frequencies so that Kalman Filters (KFs) are usually needed for sensor fusion. Our second proposal is to use a Dual-Rate Extended Kalman Filter (DREFKF) to alleviate the cost of updating the internal state of the filter. To check the validity of our proposals, an LPV model-based control strategy is compared in simulations over a circuit path to another reduced computational complexity control strategy, the Inverse Kinematic Bicycle model (IKIBI), in the presence of process and measurement Gaussian noise. The LPV-MPC controller is shown to provide a more accurate lane-keeping behavior than an IKIBI control strategy. Finally, it is seen that Dual-Rate Extended Kalman Filters (DREKFs) constitute an interesting tool for providing fast vehicle state estimation in an AGV lane-keeping application.
In this paper, a two-wheel drive unmanned ground vehicle (UGV) path-following motion control is proposed. The UGV is equipped with encoders to sense angular velocities and a beacon system which ...provides position and orientation data. Whereas velocities can be sampled at a fast rate, position and orientation can only be sensed at a slower rate. Designing a dynamic controller at this slower rate implies not reaching the desired control requirements, and hence, the UGV is not able to follow the predefined path. The use of dual-rate extended Kalman filtering techniques enables the estimation of the fast-rate non-available position and orientation measurements. As a result, a fast-rate dynamic controller can be designed, which is provided with the fast-rate estimates to generate the control signal. The fast-rate controller is able to achieve a satisfactory path following, outperforming the slow-rate counterpart. Additionally, the dual-rate extended Kalman filter (DREKF) is fit for dealing with non-linear dynamics of the vehicle and possible Gaussian-like modeling and measurement uncertainties. A Simscape Multibody™ (Matlab®/Simulink) model has been developed for a realistic simulation, considering the contact forces between the wheels and the ground, not included in the kinematic and dynamic UGV representation. Non-linear behavior of the motors and limited resolution of the encoders have also been included in the model for a more accurate simulation of the real vehicle. The simulation model has been experimentally validated from the real process. Simulation results reveal the benefits of the control solution.
This paper presents an extended Kalman-filter-based sensor fusion approach, which enables path-following control of a holonomic mobile robot with four mecanum wheels. Output measurements of the ...mobile platform may be sensed at different rates: odometry and orientation data can be obtained at a fast rate, whereas position information may be generated at a slower rate. In addition, as a consequence of possible sensor failures or the use of lossy wireless sensor networks, the presence of the measurements may be nonuniform. These issues may degrade the path-following control performance. The consideration of a nonuniform dual-rate extended Kalman filter (NUDREKF) enables us to estimate fast-rate robot states from nonuniform, slow-rate measurements. Providing these estimations to the motion controller, a fast-rate control signal can be generated, reaching a satisfactory path-following behavior. The proposed NUDREKF is stated to represent any possible sampling pattern by means of a diagonal matrix, which is updated at a fast rate from the current, existing measurements. This fact results in a flexible formulation and a straightforward algorithmic implementation. A modified Pure Pursuit path-tracking algorithm is used, where the reference linear velocity is decomposed into Cartesian components, which are parameterized by a variable gain that depends on the distance to the target point. The proposed solution was evaluated using a realistic simulation model, developed with Simscape Multibody (Matlab/Simulink), of the four-mecanum-wheeled mobile platform. This model includes some of the nonlinearities present in a real vehicle, such as dead-zone, saturation, encoder resolution, and wheel sliding, and was validated by comparing real and simulated behavior. Comparison results reveal the superiority of the sensor fusion proposal under the presence of nonuniform, slow-rate measurements.
It has been observed that the inclusion of Dual-Rate regulators in a sampled-data control loop occasionally introduces the phenomenon of intersample ripple in the output of the process being ...controlled. Several authors have offered explanations for this phenomenon which does not appear to derive from the control method. The aim of this brief report is to demonstrate that, by compensating in frequency through the addition of a digital filter in the control loop, it is possible to eliminate the undesired ripple between samples. The usefulness of a novel tool developed to compute the frequency response of a sampled-data multirate system will be showed. An application example is presented below for illustration.
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